Sloped Terrain Segmentation for Autonomous Drive Using Sparse 3D Point Cloud

Figure 8

Ground segmentation results (the different parts are indicated by arrows). (a) Threshold based method result at a flat road. (b) Proposed method result at a flat road. (c) Threshold based method result at flat road with a slope. (d) Proposed method result at flat road with a slope. (e) Threshold based method result at a downhill road. (f) Proposed method result at a downhill road. (g) Threshold based method result at an uphill road. (h) Proposed method result at an uphill road. (i) Threshold based method result at another uphill road. (j) Proposed method result at another uphill road.

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